how to get wheel encoder data on HuskyA200

asked 2018-08-31 23:37:47 -0500

frodyteen
62 ●15 ●19 ●24

I am working with Indigo Husky A200, and I want to try to implement the odometry pose estimation in python myself instead of using the existing Husky odometry node. I am a little confused on what package or node I need to subscribe to in order to use the encoder values in my odometry calculation?

I try to understand the build in odometry node husky_velocity_controller/odom by look at this link and it said that the husky_velocity_controller/odom is from raw odometry as read from Husky encoders. I am pretty new with c++, and looked through the code base but not sure where they processed the encoder information. Can anyone point this out for me?

Any suggestion is appreciated, thank you.

answered 2018-09-01 11:03:54 -0500

stevejp

929 ●1 ●8 ●18

Answer will depend on what exactly you mean by "implement odometry pose estimation".

If you want to go from raw wheel encoders to odometry estimate, most of that is happening with the diff_drive_controller which has a config file in the husky_control package. It uses the raw wheel encoder data with a diff_drive motion model to estimate odometry (and publishes it on husky_velocity_controller/odom).

The other link you specified ("code base") is the code for the robot_localization package. This package fuses the wheel odometry ("husky_velocity_controller/odom") as well as imu data in an EKF to estimate pose (usually published on odometry/filtered).

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Thank you for the reply. I want to use raw wheel encoders's tick signal like in this post to calculate the odometry. So, how can I get the tick signals from the encoder? @stevejp

frodyteen ( 2018-09-01 16:38:27 -0500 )edit

Unfortunately I'm not super familiar with the husky hardware interface, you may have to dig into the driver to figure it out. This looks like a good starting point - sorry I can't be of more help!

stevejp ( 2018-09-07 19:49:50 -0500 )edit

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